//------------------------------------------------------------------------------
//  <copyright file="IFRIConnection.h" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
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//------------------------------------------------------------------------------  

#pragma once

#include "stdafx.h"
#include "FRIInterop.h"

/// <summary>
/// Abstract class defining interface for implementation of FRI server.
/// Used for testing KukaLBR4PlusController without hardware.
/// </summary>
class KUKALBR4PLUSCONTROLLER_DLLEXPORTIMPORT IFRIConnection
{
public:
	/// <summary> Initializes a news instance of the <c>IFRIConnection</c> class </summary>
	IFRIConnection() { }

	/// <summary> dtor </summary>
	~IFRIConnection() { }

	/// <summary> Close the FRI server. </summary>
	/// <returns> Status code.  0 on no error. </returns>
	virtual int CloseFRI() = 0;

	/// <summary> Blocking wait on connection by FRI client </summary>
	/// <returns> Status code.  0 on no error. </returns>
	virtual int WaitOnFRIConnect() = 0;

	/// <summary> Blocking wait on request from FRI client (all control actions are clocked by client). </summary>
	/// <param name="ppFeedbackRegisters">
	/// Array of arrays of type double corresponding to the feedback registers.  Current FRI feedback
	/// will be placed in these registers.
	/// </param>
	/// <returns> Status code.  0 on no error. </returns>
	virtual int GetFRIRequest(double **ppFeedbackRegisters) = 0;

	/// <summary> Gets the quality of the FRI connection </summary>
	/// <returns> The quality of the FRI connection. </returns>
	virtual FRIQuality GetFRIQuality() = 0;

	/// <summary> Respond to client but take no control action. </summary>
	/// <returns> Status code.  0 on no error. </returns>
	virtual int DoNothing() = 0;

	/// <summary> Execute joint position control. </summary>
	/// <param name="jointPosition"> Array of joint positions. </param>
	/// <returns> Status code.  0 on no error. </returns>
	virtual int DoPositionControl(double *jointPosition) = 0;

	/// <summary> Execute joint impedance control. </summary>
	/// <param name="jointPosition"> Array of joint positions. </param>
	/// <param name="jointStiffness"> Array of joint stiffness values. </param>
	/// <param name="jointDamping"> Array of joint damping values. </param>
	/// <param name="jointAdditionalTorque"> Array of addition joint torque values. </param>
	/// <returns> Status code.  0 on no error. </returns>
	virtual int DoJointImpedanceControl(
		double *jointPosition,
		double *jointStiffness,
		double *jointDamping,
		double *jointAdditionalTorque) = 0;

	/// <summary> Execute Cartesian impedance control. </summary>
	/// <param name="cartesianPosition"> Array indicating desired cartesian position relative to base frame. </param>
	/// <param name="cartesianStiffness"> Array of Cartesian stiffness values. </param>
	/// <param name="cartesianDamping"> Array of Cartesian damping values. </param>
	/// <param name="additionalTCPForceTorque"> Array of additional TCP force torque values. </param>
	virtual int DoCartesianImpedanceControl(
		double *cartesianPosition,
		double *cartesianStiffness,
		double *cartesianDamping,
		double *additionalTCPForceTorque) = 0;

	/// <summary> Execute Cartesian impedance control by passing position goals to KRL script. </summary>
	/// <param name="pCartesianPosition"> Array indicating desired cartesian position of TCP (tool control point) relative to base frame. </param>
	/// <param name="sequenceNumber"> Used to identify when a new position command is ready to be executed. </param>
	virtual int DoKrlCartesianImpedanceControl(double *pCartesianPosition, int sequenceNumber) = 0;
};

